A Stabilization Control of Bilateral System With Time Delay by Vibration Index—Application to Inverted Pendulum Control
Ohta, T.
Murakami, T.
Dept. of Syst. Design Eng., Keio Univ., Yokohama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: May 2009
Volume: 56,
Issue: 5
On page(s): 1595-1603
ISSN: 0278-0046
INSPEC Accession Number: 10601682
Digital Object Identifier: 10.1109/TIE.2008.2009991
First Published: 2008-12-02
Current Version Published: 2009-04-28
Abstract
In a master-slave system, improving the positioning performance and the stability is needed in the case of remote control. However, if there exists time delay, the system destabilizes the performance. Furthermore, it is important to maintain the stability of not only the system but also the controlled object. This paper describes a strategy to improve these problems. This strategy enables operators to get a degree of time delay and instability by keeping the motion performance and the stability. The unstable response with a time delay is restrained by adjusting PD controller gains based on the velocity error of master-slave. Furthermore, switching bilateral control and autonomous control of slave without falling into unstable state is constructed when that cannot be restrained because of long time delay or unexpected disturbances of slave motion. The validity of the proposed strategy is confirmed by experiments stabilizing an unstable component, i.e., an inverted pendulum of slave system.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
